Localization in ambiguous environments using multiple weak cues

Janne Laaksonen*, Ville Kyrki

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

4 Citations (Scopus)

Abstract

This paper presents a probabilistic approach for sensor-based localization with weak sensor data. Wireless received signal strength measurements are used to disambiguate sonar measurements in symmetric environments. Particle filters are used to model the multi-hypothesis estimation problem. Experiments indicate that multiple weak cues can provide robust position estimates and that multiple sensors also aid in solving the kidnapped robot problem.

Original languageEnglish
Pages (from-to)281-288
Number of pages8
JournalINTELLIGENT SERVICE ROBOTICS
Volume1
Issue number4
DOIs
Publication statusPublished - Oct 2008
MoE publication typeA1 Journal article-refereed

Keywords

  • Mobile robot localization
  • Particle filters
  • Sonar localization
  • Wireless received signal strength

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